SITL Deployment (Linus)

See https://github.com/PeterJBurke/CreateSITLenv.

SITL Deployment (Windows)

For SITL deployment (An Intro Video), you may want to start another Windows ec2 (An Intro Video) and connect to it by rdp, then

1. download https://github.com/ArduPilot/ardupilot/blob/master/Tools/environment_install/install-prereqs-windows.ps1, then right click to run it by ps (then type A) (to download cygwin and mavproxy).

   cd downloads 
   curl -O -L https://raw.githubusercontent.com/ArduPilot/ardupilot/master/Tools/environment_install/install-prereqs-windows.ps1
   

2. open cygwin.exe on desktop.

3. download ardupilot (and update pymavlink).

   git clone https://github.com/ArduPilot/ardupilot.git
   cd ./ardupilot
   pip3 install pexpect 
   git submodule update --init --recursive
   

4. download https://github.com/CloudStationTeam/sitl_deployment/blob/main/start_sitl_fleet.sh and run it.

   cd ..
   curl -O -L https://raw.githubusercontent.com/CloudStationTeam/sitl_deployment/main/start_sitl_fleet.sh
   bash start_sitl_fleet.sh (add options)
   

   For example,

   bash start_sitl_fleet.sh --loc=ardupilot --ip=<CloudStationIP> --udp=14550 (--custom-location=<Lat,Lng,Alt,Heading> or <SomeLoc>)
   

   and For example,

   bash start_sitl_fleet.sh --loc=ardupilot --ip=<CloudStationIP> --udp=14550 --custom-location=<Lat_of_UC_Irvine>,<Lng_of_UC_Irvine>,6,353 
   

   . start with 1 first. Then connect to it (14550+) on Cloud Station.

5. If it didn’t work, try

   ./ardupilot/Tools/autotest/sim_vehicle.py -v ArduCopter --no-extra-ports -I 1 --out=udp:<CloudStationIP>:14550
   

   and use pip3 to install packages.
   If it didn’t work either, try

   curl -O -L https://raw.githubusercontent.com/ArduPilot/ardupilot/master/Tools/environment_install/install-prereqs-windows.ps1
   ls
   /cygdrive/c/Windows/System32/WindowsPowerShell/v1.0/powershell.exe ./install-prereqs-windows.ps1
   

   to run the .ps1 file by cygwin to reinstall mavproxy. Then retry step 4.

Tips:

1. For custom-location, you could use -L or -l.

2. For lidar sim, you could do -A --uartF, for example ./ardupilot/Tools/autotest/sim_vehicle.py -A --uartF=sim:sf45b. Then in mavproxy, do

param set SERIAL5_PROTOCOL 11
script /tmp/post-locations.scr

.

1. For battery param, you could do param set SIM_BATTERY 100 in mavproxy.

2. Note: if your RDP didn’t work, you could try to reboot it on Amazon AWS and wait for several mins instead of another RDP, because that may take much more time.

3. Note: If you restarted SITL and it didn’t show on the map, then restart cygwin. Then restart SITL and wait for the params to load.
   Similarly, if reload CloudStation took a while, exit the shell and restart it again.

Ref: https://ardupilot.org/dev/docs/using-sitl-for-ardupilot-testing.html .